CN109854396A - A kind of soft control method of taking a seat of automatically controlled throttle valve - Google Patents
A kind of soft control method of taking a seat of automatically controlled throttle valve Download PDFInfo
- Publication number
- CN109854396A CN109854396A CN201910095213.XA CN201910095213A CN109854396A CN 109854396 A CN109854396 A CN 109854396A CN 201910095213 A CN201910095213 A CN 201910095213A CN 109854396 A CN109854396 A CN 109854396A
- Authority
- CN
- China
- Prior art keywords
- throttle valve
- unrestricted model
- zero
- limit
- saturation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000001914 filtration Methods 0.000 claims description 10
- 238000003745 diagnosis Methods 0.000 claims description 4
- HEFNNWSXXWATRW-UHFFFAOYSA-N Ibuprofen Chemical compound CC(C)CC1=CC=C(C(C)C(O)=O)C=C1 HEFNNWSXXWATRW-UHFFFAOYSA-N 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 3
- 230000007704 transition Effects 0.000 abstract description 2
- 238000000465 moulding Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
Landscapes
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
The invention discloses a kind of soft control methods of taking a seat of automatically controlled throttle valve, belong to field of automobile electronic control, drive control is carried out by the way of hardware H bridge for existing, it inevitably will appear operating condition of the throttle valve from the mode transition close to Quan Guanxiang standard-sized sheet during driving, at this time if without the soft control taken a seat, the problem of throttling valve actuator will be made to cause the blastic deformation of associated component due to excessive momentum, seriously affect the service life of actuator.The present invention is by determining throttle valve setting position unrestricted model; reasonably select duty cycle threshold; limitation processing is made to stiff rough throttle valve setting position original signal; and the final goal controlled using limiting setting position as throttle valve position; the problems such as effectively avoiding throttle valve from generating mechanical impact achievees the purpose that protect throttle valve mechanical structure.
Description
Technical field
The invention belongs to field of automobile electronic control.
Background technique
As diesel emission standard strided forward in VI stage to state, while stable state emission is greatly reduced, new discharge
Regulation is also made that more strict requirements to the exhaust venting situation of dynamic operation condition, in the improvement alternative to discharge pollutants,
Without exception require to keep suitable delivery temperature, otherwise will seriously affect the efficiency of post-processing.Automatically controlled throttle valve conduct
Controlling air-fuel ratio improves the crucial actuator of row's temperature, is widely used herein.
In order to control the cost of actuator, widely commonly used throttle valve is to have brush or brushless motor driving instantly,
Drive control is carried out by the way of hardware H bridge.It inevitably will appear throttle valve during driving to close from close to complete
To the operating condition of the mode transition of standard-sized sheet, at this time if without the soft control taken a seat, it will the valve actuator that makes to throttle is due to excessive
Momentum and the blastic deformation for causing associated component, seriously affect the service life of actuator.This technology is exactly to pass through software algorithm
The impact of throttle valve is become soft, protects actuator ontology to greatest extent.
Summary of the invention
In the case that the present invention is for the driving of H bridge, limitation and the direction of different operating conditions are carried out to the duty ratio of actuator
Variation, alleviates the rough impact of disk, improves the service life of actuator.
Used technical solution is:
1) system uses H-bridge circuit driving motor, the execution device with position sensor.First step system is opened
Beginning work simultaneously enters throttle valve setting unrestricted model decision-making function；
2) the target position POS_SET of current throttle valve is judged, if target position is less than or equal to enter zero unrestricted model
Position threshold POS_SET≤5% is then currently in zero unrestricted model, continues to determine whether to meet holding zero limitation function
It can condition；The holding zero limitation function condition are as follows: 1. from large to small, 2. throttle valve physical location POS_ACT is run fast
V < 0 that is negative is spent, 3. and passing through is exited zero unrestricted model position threshold (5%) moment, the throttle valve plate speed of service is less than etc.
Enter zero in throttle valve and keeps unrestricted model negative velocity threshold value V < -300%/s；
Zero limitation function condition is kept if meeting, keeps zero unrestricted model；If being unsatisfactory for keeping zero limitation function
Energy condition, then enter zero filtering unrestricted model, and target position forces to be set as into zero unrestricted model position threshold POS_
SET=9%；
If 3) be not currently in zero unrestricted model and target position be more than or equal into saturation unrestricted model position threshold
POS_SET >=95%, then in saturation unrestricted model, continue to determine whether to meet holding saturation limitation functional conditions；Keep full
With limitation function condition are as follows: 1. throttle valve physical location is changed from small to big, 2. the speed of service is positive V > 0, and exits saturation passing through
Unrestricted model position threshold (95%) moment, the throttle valve plate speed of service are more than or equal to throttle valve and enter saturation holding unrestricted model
Positive threshold speed V > 300%/s；
Saturation limitation functional conditions are kept if meeting, enters and keeps saturation unrestricted model；If being unsatisfactory for keeping saturation limit
Functional conditions processed then enter saturation filtering unrestricted model；
If 4) be not currently in zero unrestricted model, while unrestricted model is kept not also in saturation unrestricted model；
The target position of throttle valve is set as original start position；The throttle valve output duty cycle upper limit is set as DC_MAX (50%), accounts for
Sky is DC_MIN (- 30%) than lower limit set.
5) it is executed in step 2) and step 3) and judges whether to meet the condition for entering clamping stagnation conflicting model simultaneously, work as system
Being diagnosed to be throttle valve, aperture is not acted as requested, is judged as system clamping stagnation；Into the condition of clamping stagnation conflicting model are as follows:
Throttle valve fault diagnosis functions determine Block failure and were not carried out clamping stagnation impact；
Clamping stagnation impact is executed after into clamping stagnation conflicting model, duty-cycle limit uses one group of looser threshold limit, accounts for
Sky is IMPACT_DC_MAX (75%) than the upper limit, and duty ratio lower limit is IMPACT_DC_MIN (- 75%), and impact process is prescribed a time limit
Shi Changwei 10s.
If 6) be unsatisfactory for the condition into clamping stagnation conflicting model, judge that reality output accounts in 1~10s between current time
Whether the empty time ratio than being more than basic duty-cycle limit is less than calibration threshold value；
If so, the duty-cycle limit that transfinited in short-term, will allow output duty cycle limitation to decontrol to one group at current time
Wider duty-cycle limit threshold value, the duty ratio upper limit is EX_DC_MAX (90%) in set threshold limit, under duty ratio
It is limited to EX_DC_MIN (- 90%),
If it is not, not allowing then output duty cycle more than basic duty-cycle limit, i.e. duty ratio in set threshold limit
The upper limit is LIM_DC_MAX (40%), and duty ratio lower limit is LIM_DC_MIN (- 20%).
7) execute the step 4), go to step after step 5) and step 6) 1) and restart new judgement, or terminate step
Suddenly.
Beneficial effects of the present invention: the present invention reasonably selects duty ratio by determining throttle valve setting position unrestricted model
Threshold value makes limitation processing to stiff rough throttle valve setting position original signal, and to limit setting position as throttling
Valve position control final goal, effectively avoid throttle valve generate mechanical impact the problems such as, reach protection throttle valve mechanical structure
Purpose.
Detailed description of the invention
Fig. 1 is the control flow chart of entire technical solution.
Fig. 2 is the schematic diagram that unrestricted model is controlled in control algolithm.
Specific embodiment
It includes two subfunctions, filtering limitation function and holding limitation function that throttle valve, which limits setting position function, and is protected
It holds limitation function priority and is higher than filtering limitation function.
Wherein, filtering limitation function is divided into Three models:
Unrestricted model: when exiting, saturation unrestricted model position threshold THR_LIM_EXIT_POS_SATU >=throttle valve is former
Beginning setting position THR_POST (90%) >=exit zero unrestricted model position threshold THR_LIM_EXIT_POS_ZERO
(15%) when, throttle valve limitation setting position is directly equal to original start position (THR_SET=THR_POST).
Be zeroed unrestricted model: throttle valve original start position is less than or equal to enter zero unrestricted model position threshold (THR_
POST≤THR_LIM_ENTER_POS_ZERO (9%)) when, low-pass filtering is carried out to throttle valve original start position, makes to set
Position become it is smooth and it is gentle after, then export to limitation setting position THR_SET.
Be saturated unrestricted model: throttle valve original start position, which is more than or equal to, enters saturation unrestricted model position threshold (THR_
POST >=THR_LIM_ENTER_POS_SATU (96%)) when, processing method and zero unrestricted model are similarly.
Limitation function is kept to be divided into both of which:
Zero keep limitation: when throttle valve physical location from large to small, the speed of service be negative, and pass through exit zero limit
Molding formula 5% moment of the position threshold throttle valve plate speed of service is less than or equal to throttle valve and enters the negative speed of zero holding unrestricted model
V < -300%/s when spending threshold value keeps unrestricted model into zero, forces target position to be set as entering zero limitation at this time
9% a period of time of mode position threshold value, after throttle valve plate speed is more than or equal to 0, or holding limitation time-out, limitation is completed.
Saturation keeps limitation: when throttle valve physical location is changed from small to big, the speed of service is positive, and exiting saturation limit passing through
Molding formula 95% moment of the position threshold throttle valve plate speed of service enters saturation more than or equal to throttle valve and keeps unrestricted model just fast
V > 300%/s enters saturation holding unrestricted model when spending threshold value, forces to be set as entering saturation limit molding by target position at this time
Formula position threshold for a period of time, after throttle valve plate speed is less than or equal to 0, or holding limitation time-out, complete by limitation.
Duty-cycle limit output function, basic duty-cycle limit function: when throttle valve limitation setting position mode is " non-limit
When molding formula ", the throttle valve output duty cycle upper limit is set as DC_MAX (50%), and duty ratio lower limit (the negative duty upper limit) is set
It is set to DC_MIN (- 30%).When throttle valve limitation setting position mode is " zero unrestricted model " or " saturation unrestricted model "
When, the throttle valve output duty cycle upper limit is set as LIM_DC_MAX (40%), and duty ratio lower limit (the negative duty upper limit) is set as
LIM_DC_MIN (- 20%).
The duty-cycle limit that transfinites in short-term function: reality output in a period of time of longest 10s before statistics calculating current time
Duty ratio is more than the time ratio of basic duty-cycle limit, if the time ratio is less than calibration threshold value, allows to implement to surpass in short-term
Duty ratio control is limited, output duty cycle limitation will be allowed to decontrol to one group of wider duty-cycle limit threshold value, duty at current time
It is EX_DC_MAX (90%) than the upper limit, duty ratio lower limit is EX_DC_MIN (- 90%), if overtime ratio is more than calibration
Threshold value, then not allowing output duty cycle is more than basic duty-cycle limit.
Under specific operation, big space rate appropriate is allowed to impact, is impacted into clamping stagnation: if throttle valve fault diagnosis functions are sentenced
Block failure is determined not equal to 0, and was not carried out clamping stagnation impact, then enters clamping stagnation conflicting model.Execute clamping stagnation attack: in card
During stagnant impact executes, duty-cycle limit uses one group of looser threshold limit, and the duty ratio upper limit is IMPACT_DC_MAX
(75%), duty ratio lower limit is IMPACT_DC_MIN (- 75%).Complete clamping stagnation impact: by the attack time length of setting
Afterwards, no matter whether there is also think that clamping stagnation impact executes completion to Block failure.
Association's control processing to above-mentioned control algolithm, high priority: middle priority: clamping stagnation impact limitation duty ratio surpasses in short-term
Limit limitation duty ratio, low priority: limitation duty ratio substantially.
1) enter throttle valve and set unrestricted model decision-making function,
The target position POS_SET of current throttle valve is judged, if target position is less than or equal to enter zero unrestricted model position
Threshold value POS_SET≤5% is set, then is currently in zero unrestricted model, continues to determine whether to meet holding zero limitation function
Condition；The holding is zeroed limitation function condition are as follows: 1. throttle valve physical location POS_ACT from large to small, the 2. speed of service
Be negative V < 0,3. and passing through exits zero unrestricted model position threshold (5%) moment, the throttle valve plate speed of service is less than or equal to
Throttle valve enters zero and keeps unrestricted model negative velocity threshold value V < -300%/s；
Zero limitation function condition is kept if meeting, keeps zero unrestricted model；If being unsatisfactory for keeping zero limitation function
Energy condition, then enter zero filtering unrestricted model, and target position forces to be set as into zero unrestricted model position threshold POS_
SET=9%；
If 3) be not currently in zero unrestricted model and target position be more than or equal into saturation unrestricted model position threshold
POS_SET >=95%, then in saturation unrestricted model, continue to determine whether to meet holding saturation limitation functional conditions；Keep full
With limitation function condition are as follows: 1. throttle valve physical location is changed from small to big, 2. the speed of service is positive V > 0, and exits saturation passing through
Unrestricted model position threshold (95%) moment, the throttle valve plate speed of service are more than or equal to throttle valve and enter saturation holding unrestricted model
Positive threshold speed V > 300%/s；
Saturation limitation functional conditions are kept if meeting, enters and keeps saturation unrestricted model；If being unsatisfactory for keeping saturation limit
Functional conditions processed then enter saturation filtering unrestricted model；
If 4) be not currently in zero unrestricted model, while unrestricted model is kept not also in saturation unrestricted model；
The target position of throttle valve is set as original start position；The throttle valve output duty cycle upper limit is set as DC_MAX (50%),
Duty ratio lower limit set is DC_MIN (- 30%).
5) it is executed in step 2) and step 3) and judges whether to meet the condition for entering clamping stagnation conflicting model simultaneously；Into card
The condition of stagnant conflicting model are as follows: throttle valve fault diagnosis functions determine Block failure and were not carried out clamping stagnation impact；
Clamping stagnation impact is executed after into clamping stagnation conflicting model, duty-cycle limit uses one group of looser threshold limit, accounts for
Sky is IMPACT_DC_MAX (75%) than the upper limit, and duty ratio lower limit is IMPACT_DC_MIN (- 75%), and impact process is prescribed a time limit
Shi Changwei 10s.
If 6) be unsatisfactory for the condition into clamping stagnation conflicting model, judge that reality output accounts in 1~10s between current time
Whether the empty time ratio than being more than basic duty-cycle limit is less than calibration threshold value；
If so, the duty-cycle limit that transfinited in short-term, will allow output duty cycle limitation to decontrol to one group at current time
Wider duty-cycle limit threshold value, the duty ratio upper limit is EX_DC_MAX (90%) in set threshold limit, under duty ratio
It is limited to EX_DC_MIN (- 90%),
If it is not, not allowing then output duty cycle more than basic duty-cycle limit, i.e. duty ratio in set threshold limit
The upper limit is LIM_DC_MAX (40%), and duty ratio lower limit is LIM_DC_MIN (- 20%).
7) execute the step 4), go to step after step 5) and step 6) 1) and restart new judgement, or terminate step
Suddenly.
Claims (1)
1. a kind of soft control method of taking a seat of automatically controlled throttle valve, the specific steps are as follows:
1) system uses H-bridge circuit driving motor, the execution device with position sensor.First step system starts work
Make and enters throttle valve setting unrestricted model decision-making function；
2) the target position POS_SET of current throttle valve is judged, if target position is less than or equal to enter zero unrestricted model position
Threshold value POS_SET≤5% is then currently in zero unrestricted model, continues to determine whether to meet holding zero limitation function item
Part；The holding zero limitation function condition are as follows: 1. from large to small, 2. the speed of service is throttle valve physical location POS_ACT
3. and passing through negative V < 0 is exited zero 5% moment of unrestricted model position threshold, the throttle valve plate speed of service is less than or equal to throttling
Valve enters zero and keeps unrestricted model negative velocity threshold value V < -300%/s；
Zero limitation function condition is kept if meeting, keeps zero unrestricted model；If being unsatisfactory for keeping zero limitation function item
Part, then enter zero filtering unrestricted model, and target position forces to be set as entering zero unrestricted model position threshold POS_SET=
9%；
If 3) be not currently in zero unrestricted model and target position be more than or equal into saturation unrestricted model position threshold POS_
SET >=95%, then in saturation unrestricted model, continue to determine whether to meet holding saturation limitation functional conditions；Keep saturation limit
Functional conditions processed are as follows: 1. throttle valve physical location is changed from small to big, 2. the speed of service is positive V > 0, and exits saturation limitation passing through
95% moment of mode position threshold value, the throttle valve plate speed of service are more than or equal to throttle valve and enter the saturation holding positive speed of unrestricted model
Threshold value V > 300%/s；
Saturation limitation functional conditions are kept if meeting, enters and keeps saturation unrestricted model；If being unsatisfactory for keeping saturation limitation function
Energy condition then enters saturation filtering unrestricted model；
If 4) be not currently in zero unrestricted model, while unrestricted model is kept not also in saturation unrestricted model；Throttling
The target position of valve is set as original start position；The throttle valve output duty cycle upper limit is set as DC_MAX 50%, under duty ratio
Limit is set as DC_MIN-30%.
5) it is executed in step 2) and step 3) and judges whether to meet the condition for entering clamping stagnation conflicting model simultaneously, work as system diagnostics
Aperture is not acted throttle valve as requested out, is judged as system clamping stagnation；Into the condition of clamping stagnation conflicting model are as follows: throttling
Valve fault diagnosis functions determine Block failure and were not carried out clamping stagnation impact；
Clamping stagnation impact is executed after into clamping stagnation conflicting model, duty-cycle limit uses one group of looser threshold limit, duty ratio
The upper limit is IMPACT_DC_MAX 75%, and duty ratio lower limit is IMPACT_DC_MIN-75%, a length of when impact process is prescribed a time limit
10s。
If 6) be unsatisfactory for the condition into clamping stagnation conflicting model, reality output duty ratio in 1~10s is judged between current time
Whether the time ratio more than basic duty-cycle limit is less than calibration threshold value；
If so, the duty-cycle limit that transfinited in short-term, will allow output duty cycle limitation to decontrol at current time wider to one group
Duty-cycle limit threshold value, the duty ratio upper limit is EX_DC_MAX 90% in set threshold limit, and duty ratio lower limit is EX_
DC_MIN-90%,
If it is not, not allowing then output duty cycle more than basic duty-cycle limit, i.e. the duty ratio upper limit in set threshold limit
For LIM_DC_MAX 40%, duty ratio lower limit is LIM_DC_MIN-20%.
7) execute the step 4), go to step after step 5) and step 6) 1) and restart new judgement or end step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095213.XA CN109854396B (en) | 2019-01-31 | 2019-01-31 | Soft seating control method of electronic control throttle valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095213.XA CN109854396B (en) | 2019-01-31 | 2019-01-31 | Soft seating control method of electronic control throttle valve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109854396A true CN109854396A (en) | 2019-06-07 |
| CN109854396B CN109854396B (en) | 2022-03-25 |
Family
ID=66897095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910095213.XA Active CN109854396B (en) | 2019-01-31 | 2019-01-31 | Soft seating control method of electronic control throttle valve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109854396B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110925111A (en) * | 2019-12-13 | 2020-03-27 | 潍柴动力股份有限公司 | Throttle valve diagnosis method and device, control equipment and readable storage medium |
| CN113982766A (en) * | 2021-09-30 | 2022-01-28 | 东风商用车有限公司 | Engine electronic throttle control method and system and automobile |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201023A (en) * | 2006-12-13 | 2008-06-18 | 株式会社日立制作所 | Throttle control device for internal combustion engine |
| US20100242907A1 (en) * | 2009-03-31 | 2010-09-30 | Honda Motor Co., Ltd. | Throttle control system |
| CN101970835A (en) * | 2008-02-19 | 2011-02-09 | 五十铃自动车株式会社 | Stop control device for engine |
| CN204126738U (en) * | 2014-08-15 | 2015-01-28 | 广西淞森车用部件有限公司 | A kind of automotive electronics closure |
| US9555869B1 (en) * | 2015-01-30 | 2017-01-31 | Brunswick Corporation | Systems and methods for setting engine speed in a marine propulsion device |
-
2019
- 2019-01-31 CN CN201910095213.XA patent/CN109854396B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201023A (en) * | 2006-12-13 | 2008-06-18 | 株式会社日立制作所 | Throttle control device for internal combustion engine |
| CN101970835A (en) * | 2008-02-19 | 2011-02-09 | 五十铃自动车株式会社 | Stop control device for engine |
| US20100242907A1 (en) * | 2009-03-31 | 2010-09-30 | Honda Motor Co., Ltd. | Throttle control system |
| CN204126738U (en) * | 2014-08-15 | 2015-01-28 | 广西淞森车用部件有限公司 | A kind of automotive electronics closure |
| US9555869B1 (en) * | 2015-01-30 | 2017-01-31 | Brunswick Corporation | Systems and methods for setting engine speed in a marine propulsion device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110925111A (en) * | 2019-12-13 | 2020-03-27 | 潍柴动力股份有限公司 | Throttle valve diagnosis method and device, control equipment and readable storage medium |
| CN113982766A (en) * | 2021-09-30 | 2022-01-28 | 东风商用车有限公司 | Engine electronic throttle control method and system and automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109854396B (en) | 2022-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104863731B (en) | The self cleaning method of EGR valve | |
| CN109854396A (en) | A kind of soft control method of taking a seat of automatically controlled throttle valve | |
| JP2017031884A (en) | Control device of internal combustion engine | |
| CN102362056A (en) | Controller of internal combustion engine | |
| KR101714265B1 (en) | The controlling method of engine system equipped with supercharger | |
| CN104975952B (en) | The airflow control of internal combustion engine and the throttle valve control method of internal combustion engine | |
| JP3695118B2 (en) | Control device for electromagnetically driven valve | |
| JP4906848B2 (en) | Control method for internal combustion engine | |
| CN103576081A (en) | Method for diagnosing PWM switching circuit in real time | |
| JPS6315460B2 (en) | ||
| JP2012154292A (en) | Device for control of internal combustion engine with supercharger | |
| CN101392695A (en) | Idle speed control method for electric-controlled unit of motorcycle engine | |
| CN112392589B (en) | Control method and device for variable-section turbocharger and vehicle | |
| JPH09310633A (en) | Diesel engine controller | |
| CN114352563A (en) | System and method for controlling positive and negative rotation of electronic fan of engineering machinery | |
| AU2020201740A1 (en) | Electronically controlled throttle control device | |
| CN112343731A (en) | Power generation control method and system for molten salt Stirling engine | |
| JP7306570B2 (en) | EGR estimation method for internal combustion engine and EGR estimation device for internal combustion engine | |
| JP6292212B2 (en) | Control device for internal combustion engine | |
| CN118896028A (en) | A VGT valve reference position self-positioning control method | |
| JPH06288303A (en) | Self-diagnosis device for exhaust gas recirculation system of internal combustion engine | |
| JP2003328819A (en) | Method and system for controlling idle speed of engine | |
| CN115217656B (en) | Control method and device for NVH of lifting machine of hybrid vehicle, VCU and medium | |
| JP2005127231A (en) | Method and device for diagnosing failure of vehicle | |
| JP2003193892A (en) | Failure detecting device for intake air flow sensor for internal combustion engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |